• 한국해양공학회지
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• 제23권2호
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• pp.8-17
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• 2009

This paper presents an adaptive tracking control method for a welding mobile manipulator with several unknown parameters such as the last length of the manipulator, the wheel radius and the distance from the center to the wheel. The mobile manipulator consisted of the manipulator and the mobile-platform. Kinematic modelings for the manipulator and the mobile-platform with several unknown parameters were produced. The tracking error vectors for the manipulator and the mobile-platform were defined. These adaptive controllers were designed based on the Lyapunov function to guarantee the stability of the whole system when the mobile manipulator performs a welding task. Update laws were also designed to estimate the unknown dimensional parameters. To implement the designed controllers, a control system integrated with PIC16F877 microprocessors and a TMS320C32 DSP was developed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2004년도 하계학술대회 논문집 Vol.5 No.2
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• pp.1121-1124
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• 2004

Aging test to estimate life property of polymer insulator is executed through several international standard such as IEC 61109 and CEA tracking wheel test, but is not getting clear conclusion yet. There are two methods in the diagnosis method of polymer insulator such as off-line and on-line. The diagnosis methods in off-line are external condition analysis by the eye, contaminant analysis on surface, surface analysis, pollution withstand voltage test, power frequency flashover voltage test, lightning impulse flashover test, tensile fracture load test and flexural load test. The diagnosis methods in off-line most are the method for virgin and last aged sample. However, the diagnosis method in on-line is method that can be evaluate sample state as progressing continuously aging test in beginning, The diagnosis method in on-line is arranged as following: leakage current measurement, electric field, surface state investigation, thermal image, emitting light measurement and then so. In this paper, the tracking performance of polymer insulator with salt solution which is added surface active agent. The diagnosis of insulator sample has been analyzed by leakage current and visual examination.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2004년도 하계학술대회 논문집 Vol.5 No.1
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• pp.469-472
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• 2004

There have been numerous accelerated aging laboratory tests for evaluating suitability of polymeric materials and devices. Aging test for materials and its full scale device has been conducted, but poor correlation of aging test such as service experience were observed. Service experience plays a key role in the utility section of composite insulators. A meaningful and reliable accelerated aging test is needed for evaluating composite insulator. During the service these insulators are subjected to aging stress such as humidity, pollution, and electrical field, and erosion and tracking of the weathershed occurs. This paper presents the criteria of reliability evaluation and evaluation facilities for 22.9 kV suspension composite insulator. We adopt the criteria of reliability evaluation consist of two test methods. One is CEA tracking wheel test for examining the tracking and erosion performance of composite insulator. The other is multi-stress aging test for examining effects of environmental factors such as UV, temperature, humidity, etc on composite insulator.

• International Journal of Automotive Technology
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• 제5권2호
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• pp.69-76
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• 2004

This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.

• 한국멀티미디어학회논문지
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• 제19권3호
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• pp.539-547
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• 2016

Automated guided vehicles (AGVs) are widely used in industry. Several types of vision-based AGVs have been studied in order to reduce cost of infrastructure building at floor of workspace and to increase flexibility of changing the navigation path layout. A practical vision-based guideline tracing method is proposed in this paper. A virtual tracing wheel is introduced and adopted in this method, which enables a vision-based AGV to trace a guideline in diverse ways. This method is also useful for preventing damage of the guideline by enforcing the real steering wheel of the AGV not to move on the guideline. Usefulness of the virtual tracing wheel is analyzed through computer simulations. Several navigation tests with a commercial AGV were also performed on a usual guideline layout and we confirmed that the virtual tracing wheel based tracing method could work practically well.

• 한국정밀공학회지
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• 제17권5호
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• pp.145-153
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• 2000

This paper discusses the dynamic modeling and robust control development for a differentially steered mobile robot subject to wheel slip according to high load. Consideration of wheel slip is crucial for high load applications such as construction automation tasks because wheel slip acts as a severe disturbance to the system. It is shown that the uncertainty terms due to the wheel slip satisfy the matching condition for the sliding mode control design. From the full dynamic model of the mobile robot, a reduced ideal model is extracted to facilitate the control design. The sliding mode control method ensures the dynamic tracking performance for such a mobile robot. Numerical simulation shows the promise of the developed algorithm.

• International Journal of Automotive Technology
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• 제8권3호
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• pp.299-308
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• 2007

This study proposes a two-layer hierarchical control system that integrates active front wheel steering and four wheel braking torque control to improve vehicle handling performance and stability. The first layer is a robust model matching controller (R-MMC) based on linear matrix inequalities (LMIs), which optimizes an active front steering angle compensation and a desired yaw moment control, and calculates reference wheel slip for the target wheel according to the desired yaw moment. The second layer is a moving sliding mode controller (MSMC) that can track the reference wheel slip in a predetermined time by commanding proper braking torque on the target wheel to achieve the desired yaw moment. Since vehicle sideslip angle measurement is difficult to achieve in practice, a sliding mode observer (SMO) that requires only vehicle yaw rate as the measured input is also developed in this study. The performance and robustness of the SMO and the integrated control system are demonstrated through comprehensive computer simulations. Simulation results reveal the satisfactory tracking ability of the SMO, and the superior improved vehicle handling performance, stability and robustness of the integrated control vehicle.

• 자동차안전학회지
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• 제13권1호
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• pp.6-13
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• 2021

This paper presents yaw moment control for modification of steering characteristic in rear-driven vehicle with front in-wheel motors (IWMs). The proposed control algorithm is designed to modify yaw rate response of the test vehicle. General approach for modification of steering characteristic is to define the desired yaw rate and track the yaw rate. This yaw rate tracking method can cause the chattering problem because of the IWM actuator response. Large overshoot and settling time in IWM torque response can amplify the oscillation in control input and yaw rate. To resolve these problems, open-loop IWM controller for cornering agility was designed to modify the understeer gradient of the vehicle. The proposed algorithm has been investigated via the computer simulations and the vehicle tests. The performance evaluation has been conducted on dry asphalt using E-segment test vehicle. The performance of the proposed algorithm has been compared to general yaw rate tracking algorithm in the vehicle tests. It has been shown that the proposed control law improved the cornering agility without chattering problem.

• 한국전기전자재료학회논문지
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• 제18권1호
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• pp.62-67
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• 2005

Recently, polymer insulators that are used for high voltage applications have some advantages such as light weight, small size, vandalism resistance, hydrophobicity and easy making process. During outdoor service of polymer insulators, the surface of the insulating material is frequently subjected to moisture and contamination that lead to dry band arcing. Their tracking resistance, erosion resistance, end sealing and shed design are very important because dry band arcing causes degradation of polymer surface. Aging test to estimate life property of polymer insulator is executed through several international standard such as IEC 61109 and CEA tracking wheel test, but is not getting clear conclusion yet. There are two methods in the diagnosis method of polymer insulator such as off-line and on-line. The diagnosis methods in off-line are external condition analysis by the eye, contaminant analysis on surface, surface analysis, pollution withstand voltage test, power frequency flashover voltage test, lightning impulse flashover test, tensile fracture load test and flexural load test. Polymer material is also investigated it's tracking resistance by adding surface active agent in IEC 587. In this paper, the tracking performance of polymer insulator with salt solution which is added surface active agent. The diagnosis of insulator sample has been analyzed by leakage current and visual examination, STRI guide and thermal image camera.

• 한국농공학회지
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• 제44권5호
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• pp.88-95
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• 2002

This study is a fundamental research for recycling waste vinyl (WV) in asphalt mixture for improving roadway pavement. Mix design was conducted by WV content and optimum asphalt content (OAC) was determined for dense-graded surface course mixture. Marshall stability test, indirect tensile strength (ITS) test and wheel tracking test were carried out to measure the characteristics of WV-added asphalt concretes. From the results of this study, recycling WV in asphalt mixture is possible. However, as WV content increased, melted WV clustering appeared in asphalt mixture. It could be considered that adding too much WV in asphalt mixture is not proper. The proper content of LDPE and HDPE WV was appeared to be 12% and 8%, respectively.